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You need to implement the `dock`, `drive_to` and `explore`.
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**Dock** Inspire yourself from the `UndockExecutor` to create this executor. Essentially duplicating `UndockExecutor` and replacing Undock by Dock is *almost* all you have to do.
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**Dock** Inspire yourself from the `UndockExecutor` to create this executor. Essentially duplicating `UndockExecutor` and replacing Undock by Dock is *almost* all you have to do. You can get the type of an action with `ros2 action info -t [action]`.
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**Drive to** Drive to a given location and set the maximum velocity. To drive to a given location, you should send a goal to the navigate action server, like you did in *Lab 2*. Also in this lab you will need to se the `maximum_speed` by publishing on the `/speed_limit` topic. You can use `ros2 topic info` to get the information about a topic, including its type. You can use `ros2 interface show` to show the definition of a topic. `drive_to` has three parameters that you need to get: the destination `p`, the `heading` and the `maximum-speed`.
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